SYSTEM AND METHOD FOR CONTROLLING AN OPERATING CONTACT OF WORK EQUIPMENT

Abstract

Systems and methods are provided for controlling the operational contact of a work tool assembly with surface sections of a work area that exhibit corresponding operational contact restrictions, representing various associated zones and / or boundaries. Operationally contactable surface sections (corresponding to the working length and width of the work tool assembly) of the work area to be traversed are continuously predicted, as are their associated restriction levels. An operating mode for the work tool is determined from several operating modes, including a first mode that specifies complete operational contact with an operationally contactable surface section without overlapping restrictions, and a second mode that specifies complete resolution of the operational contact with an operationally contactable surface section that overlaps one or more restrictions.For each predicted operational contactable surface section of the work area, the work equipment assembly is automatically actuated to establish or break operational contact prior to traversing the area, based on certain operational contact restrictions corresponding to the predicted operational contactable surface section and the operating mode.

Description

AREA OF REVELATION

[0001] The present disclosure relates generally to work machines with associated work equipment, which are, for example, pulled by self-propelled work vehicles or otherwise connected to them, and in particular to a method and a system for controlling an operating contact of such work equipment with respect to its working area. BACKGROUND Fig. Figures 1A-4 show various examples of working machines 100 and associated working equipment assemblies 102, the description of which serves only to illustrate certain problems that are solved by a system and method of the present disclosure. A working machine 100 and the associated working equipment assembly 102 within the scope of the present disclosure are in no way limited to the following examples, unless expressly stated otherwise. Fig. 1A and Fig. Figure 1B illustrates a soil cultivation machine 100 comprising a work vehicle that pulls a work tool assembly 102, which has a frame supporting a plurality of tools for working (e.g., ripping) the terrain when lowered into it for operational contact. The work tool assembly has a physical length 104, which can be distinguished from a working length 106, or in other words, a combination of a front working length 108, corresponding to a front working area 116 of the assembly, and a rear working length 110, corresponding to a rear working area 118 of the assembly. The work tool assembly in this example also has a physical width 112, which generally corresponds to a working width 114 of the plurality of tools, although this is not necessarily the case in other embodiments of the work machine.In the example shown, the entire working length of the assembly consists of ripping tools; however, in alternative embodiments, a front and a rear working length can also consist of other tools for other purposes in the same operation. Fig. 2A and Fig. Figure 2B shows a spraying machine 100 with a work vehicle comprising a first work equipment assembly 102a integrated into, mounted on, or otherwise attached to its front end, and a second work equipment assembly 102b integrated into, mounted on, or otherwise attached to its rear end. Each of the work equipment assemblies comprises a front work area 116a, 116b and a rear work area 118b, 118b, which are, for example, equipped with different nozzles and configured for treating a terrain by spraying the product. The nozzles can, for example, be arranged in different rows or stages to spray in different areas when in contact with the ground surface, or they can be arranged in a single row but configured to spray in different directions (e.g., front and rear) when in contact with the ground surface. Fig. Figure 3 illustrates a planting machine 100 comprising a work vehicle with an associated work equipment assembly 102 having a front working area 116 and a rear working area 118, at least one of which comprises a plurality of tools for introducing seed into the soil when lowered into operational contact with the soil. Fig. Figure 4 shows a combine harvester working machine 100 driving a working implement assembly 102, with a front working area 116 configured in various embodiments to capture and cut crop when lowered, and a rear working area 118 configured in various embodiments to process and / or guide the cut crop. According to Fig. 5. In the context of this disclosure, a work area 120 may, for example, be a field with one or more non-traversable boundaries 122 (e.g., an outer boundary), an inner headland 124 defined by a headland boundary 126, and an inner core area 128 or an equivalent area for the cultivation of crops or other vegetation, or any other type of area comprising terrain to be worked by one or more implement assemblies 102 connected to a work machine 100. In the context of a field as a work area, it may, for example, be necessary for the work machine to cover the entire work area (i.e.,the core area) or a part thereof, to plant, treat, harvest, or perform any other task related to the crop or crop stand, to name a few non-restrictive examples. In some cases, a headland area may be traversed by the working machine but does not include an area to be planted or treated, while the outer boundary defines an area that is not to be crossed or otherwise traversed.

[0002] Within such a work area 120, there may also be sections such as watercourses 134 that should not be processed by the machine. In the Fig. In the example shown in Figure 5, a waterway extending across the work area is defined by a non-traversable boundary 122 or an auxiliary boundary 132, which defines an area that should not be worked during operation but can nevertheless be traversed by work machines if necessary. Another waterway is shown as being entirely within the work area and is further defined as being within a traversable but non-workable boundary area 130 or another headland area 124, which, depending on the context, can be defined as traversable and workable (or optionally non-workable).

[0003] As already mentioned, various working machines 100 can comprise a work equipment assembly 102 with a total working area (a combination of the front 116 and rear 118 working areas) defined, for example, by a working length 106 and a working width 114. In many contexts, a control based on current subsections is applied, whereby the entire working area of ​​the work equipment assembly selectively comes into (or out of) operational contact with the terrain during a work operation.

[0004] According to Fig. 6 and using the example of a soil cultivation machine from Fig. 1A and Fig. However, in 1B, the user will typically find that when an entire implement assembly is raised or lowered near boundaries based on a line segment as a control parameter, partial work occurs in sections of the working area where full work is intended (e.g., partial work of the headland during headland turns, as shown by label 136) and / or partial work occurs in sections of the working area where no work is intended (e.g., work of the soil in waterways, as shown by label 138). These problems can understandably be exacerbated with implement assemblies that have a particularly long working length.

[0005] Corresponding problems can arise, for example, when the frame of the implement assembly is raised when it is moved to a headland to work within the headland area, or due to a need to raise the frame of the implement assembly in the mainland and / or the headland during special maneuvers where conventional control technology could otherwise leave the assembly in position. SUMMARY

[0006] The present disclosure provides an improvement on conventional control techniques, at least in part, by introducing a novel system and method for automatically controlling the establishment and release of an operating contact (e.g., raising, lowering) of a work tool assembly frame when traversing, entering, and exiting field boundaries and previously covered areas, using a two-dimensional working area of ​​the work tool assembly. In some embodiments within the scope of this disclosure, a three-dimensional working volume of the work tool assembly is also taken into account.

[0007] A system and method such as disclosed herein can reduce the need for constant manual control by the operator during such events and enable higher travel speeds in many applications by at least allowing automatic adjustment of the machine settings.

[0008] It should be noted that although the above-mentioned examples of a working machine and an associated working tool are described in relation to agricultural applications, similar problems may also arise in other applications, such as in construction, road building and the like, and that the solutions within the scope of this disclosure are not limited to the specific examples given.

[0009] Exemplary embodiments of systems and methods disclosed herein may employ a digital model of the work tool assembly to identify a workable surface area, and a map of the work area which, alone or additionally, includes a digital history or coverage map spatially representing previous work performed in the work area, to perform hit tests for each predicted workable surface area to be traversed by the work tool, and to selectively control the establishment or release of a workable contact of the work tool assembly based thereon.

[0010] According to one embodiment disclosed herein, a method for controlling the operation of a working machine in a work area is provided, wherein the working machine comprises a working tool assembly configured to enter or exit operational contact with a surface section of the work area in response to control signals. The respective operational contact restrictions are determined according to one or more zones and / or boundaries associated with the work area. During operation of the working machine in the work area, the method comprises continuously predicting operational contact surface sections of the work area to be traversed and the associated restriction levels for these sections, wherein the operational contact surface sections correspond to a working length and a working width defined by the working tool assembly.During operation, an operating mode is determined for the working machine. This operating mode is selected from a plurality of operating modes, including a first mode that specifies complete operating contact with a contactable surface section without overlapping constraints, and a second mode that specifies complete release of operating contact with a contactable surface section that overlaps one or more constraints. For each predicted contactable surface section of the work area, and prior to traversing it, the method further includes automatically actuating the working tool assembly to establish or release operating contact based on specified contact constraints corresponding to the predicted contactable surface section and the operating mode.

[0011] In an exemplary and optional aspect according to the aforementioned method implementation, the working machine may include one or more components for processing harvested crop material, wherein one or more settings for at least one of the one or more components are automatically adjusted, e.g., activating or deactivating certain components, based on certain internal processing constraints corresponding to the predicted operational contactable surface area and the operating mode.

[0012] In a further exemplary and optional aspect according to the aforementioned method implementation, the multitude of operating modes may include at least a third mode that specifies an automatic activation or deactivation of at least one of the one or more components, irrespective of changes in the operating contact or non-operating contact of the operating-contactable surface section.

[0013] In another exemplary and optional aspect according to the aforementioned method implementation form, the working area can be mapped by the machine during operation in order to store further operational contact restrictions that correspond to coverage zones and / or boundaries.

[0014] In a further exemplary and optional aspect according to the aforementioned method implementation, the working tool assembly can also be automatically actuated based on a predictive time between a current front edge of the working tool assembly and a rear edge of the predicted operational contactable surface section of the working area.

[0015] In another exemplary and optional aspect according to the aforementioned method implementation, the predictive time can be determined based on a current driving speed and / or a system deceleration associated with a transition of the working equipment assembly from the operating contact to the non-operating contact.

[0016] In a further exemplary and optional aspect according to the aforementioned method implementation form, the working length and working width of the working equipment assembly can be determined with reference to a digital model.

[0017] In a further exemplary and optional aspect according to the aforementioned method implementation form, the digital model can be generated at least partially on the basis of observations of the working length and working width of captured surface sections during a previous operation of the work equipment assembly.

[0018] In a further exemplary and optional aspect according to the aforementioned method implementation form, one or more of the multitude of operating modes can define an overlap of the operationally contactable surface section with respect to an entire working area of ​​the work tool assembly.

[0019] In a further exemplary and optional aspect according to the aforementioned method implementation, one or more of the multitude of operating modes can define an overlap of the operationally contactable surface section with respect to one or more sides of the working length and / or the working width of the working tool assembly.

[0020] In a further exemplary and optional aspect according to the aforementioned method embodiment, establishing operational contact by the working equipment assembly may include applying a treatment to the respective surface section of the working area, and breaking operational contact by the working equipment assembly may include interrupting the application of the treatment to the respective surface section of the working area.

[0021] In a further exemplary and optional aspect according to the aforementioned method implementation, establishing an operating contact by the working tool assembly may involve moving the working tool assembly into physical engagement with the respective surface section of the work area, and releasing the operating contact by the working tool assembly may involve moving the working tool assembly out of physical engagement with the respective surface section of the work area.

[0022] In another exemplary and optional aspect of the aforementioned method implementation, the operating mode can be determined by a user selection via a user interface. Alternatively or additionally, the operating mode can be determined according to the type of operation.

[0023] In another embodiment, a system for controlling a work process in a work area is disclosed herein. A working machine comprises a working device assembly configured to establish or break operational contact with a surface section of the work area in response to control signals. One or more processors are functionally connected to the working machine and configured to control the execution of steps essentially according to the aforementioned method embodiment and optionally one or more of its exemplary aspects.

[0024] Numerous tasks, features and advantages of the embodiments described herein will be readily apparent to a person skilled in the art upon reading the following disclosure in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1A and Fig. Figure 1B is a top or side view showing an embodiment of a work tool for soil cultivation operations. Fig. 2A and Fig. 2B are a top or side view showing an embodiment of a working machine and an associated working device for spraying operations. Fig. Figure 3 is a perspective view showing an embodiment of a working machine and an associated working device for planting operations. Fig. Figure 4 is a perspective view showing an embodiment of a working machine and an associated working device for harvesting operations. Fig. Figure 5 is a top view showing an exemplary work area and its associated limitations. Fig. Figure 6 is a top view illustrating problems associated with partial machining according to conventional techniques for a company in an exemplary work area. Fig. Figure 7 is a block diagram representing an embodiment of a control system according to the present disclosure. Fig. Figure 8 is a flowchart illustrating an exemplary process according to an embodiment of the present disclosure. Fig. Figure 9 is a flowchart that shows an exemplary detail regarding a part of the procedure. Fig. 8 represents. Fig. Figure 10 is a flowchart that shows an exemplary detail relating to a part of the procedure. Fig. 9 represents. Fig. Figure 11 is a flowchart that shows an exemplary detail relating to a part of the procedure. Fig. 10 represents. Fig. Figure 12 is a flowchart that shows an exemplary detail relating to a part of the procedure. Fig. 11 represents. Fig. 13A and Fig. Figure 13B are diagrams that each represent a predicted position of an operational contactable surface section relative to a constraint within a work area and an associated result of an area-based hit test. Fig. 14A and Fig. Figure 14B are diagrams that each represent a predicted position of an operational contact surface section relative to a constraint within a work area and an associated result of a front and rear edge-based hit test. Fig. 15A and Fig. Figure 15B are diagrams that each represent a predicted position of an operational contactable surface section relative to a constraint within a work area and an associated result of a perimeter-based hit test. Fig. 16A and Fig. 16B are aerial photographic diagrams that represent an exemplary application of soil cultivation based on conventional applications or the use of a system and method according to the present disclosure. Fig. Figure 17 is an aerial diagram illustrating an exemplary use case of a combine harvester in relation to work in the headland area. Fig. Figure 18 is an aerial photograph diagram illustrating an exemplary application of a special maneuver according to a system and method of the present disclosure. DETAILED DESCRIPTION

[0025] With further reference to Fig. Sections 7 to 20 now describe various embodiments of a system and method according to the invention.

[0026] Fig. Figure 7 shows, in a particular embodiment as disclosed herein, a system 200 for automatic operating contact control for at least one working tool assembly of a machine. As previously mentioned with reference to Fig. As described in 1A to 4, the working machine 100 may comprise a working vehicle which pulls, pushes or otherwise integrates at least one working equipment assembly 102 for use in a working area.

[0027] The exemplary System 200 from Fig. 7 comprises a control unit 210, into which a drive control unit 250 (e.g., motor speed) and a work tool assembly control unit 260 are integrated or otherwise functionally connected. These control units and their respective functions can be combined individually or otherwise in various embodiments without this in any way deviating from the scope of protection of this disclosure.

[0028] In an embodiment where the working machine is a planter, a work implement assembly control unit 260 can include, or otherwise be functionally connected to, one or more actuators configured to adjust the downward force applied to the soil by tillage tools connected to the work implement assembly. To increase the downward force beyond the weight of the row unit, or to adjust the force, hydraulic and / or pneumatic actuators (and / or one or more springs) can be added to press the tillage tools downward with a controllable force. The one or more actuators can also be used to lift the tillage tools off the ground for transport or to maintain a seeding depth by adjusting the downward force to accommodate variations in soil density.It is understood that in other embodiments of the working machine and corresponding working equipment assemblies, the components for their operation may vary accordingly and in a manner familiar to those skilled in the art.

[0029] The controller 210 can be operated based on one or more of different input parameters, including but not limited to those in Fig. 7, designated by references 220 to 232, generate output signals corresponding to a display and / or automatic control of various operations of the working machine. In some embodiments within the scope of this disclosure, the displayed and / or automatically controlled settings or operations for one or more components of the working machine are not limited to the functions described herein for establishing / dissolving an operating contact, but may also include additional and internal processes that are carried out based on an operating mode or changes in the operating mode, e.g., based on geographically defined parameters. For example, various internal components of the working machine, independently of components involved in establishing or dissolving the operating contact with the work area, may also be automatically controlled with respect to material taken in, such as…Separation, cleaning, and shredding, and the like, wherein these control functions (and / or related display functions) can be activated or deactivated based on entry into or exit from defined areas (e.g., harvesting zones, previous covering, waterways), in addition to operating mode changes that otherwise correspond to establishing / dissolving the operating contact. In some embodiments, it is conceivable that changes in the operating modes can be defined that modify internal control settings while maintaining an operating contact or non-operating contact function as described herein, e.g., based on geographical triggers.

[0030] A surface section 220 capable of operational contact for the working tool assembly can be defined based on its working length and working width. In some embodiments, a surface section 220 capable of operational contact for the working tool assembly can be defined based on its working depth, taking into account a three-dimensional surface volume instead of a two-dimensional surface area. In contrast to a simple rectangular area corresponding to a working length and working width for the working tool assembly, in some embodiments the working tool assembly can define an angled complex polygon, for example, in connection with a road grader blade that is angled with respect to the plane of the unworked ground surface.Accordingly, a surface section capable of operational contact within the scope of the present disclosure can take into account a multidimensional aspect of the working equipment assembly, whereby the number of dimensions involved and the relevant parameters may depend on the structure present, the working process, etc.

[0031] With a dynamic coverage map 222, boundaries can be dynamically redefined based on the coverage by the work equipment assembly during an ongoing operation, e.g., to mark new boundaries that can be crossed but should no longer be in operational contact with the work equipment assembly. The dynamic coverage map can also take other dynamic features of the work area into account.

[0032] Location data 224 can be provided using various known methods for determining the location of the working machine, e.g., using sensors of the global navigation system (GNSS). Location data can also relate to the relative positioning of the working machine assembly with respect to a main frame of a working vehicle and / or with respect to detected obstacles, which can be provided using vehicle speed sensors, ultrasonic sensors, laser scanners, radar wave transmitters and receivers, thermal sensors, imaging devices, structured light sensors, and other optical sensors, wherein exemplary imaging devices within the scope of the present disclosure may include a digital (CCD / CMOS) camera, an infrared camera, a stereoscopic camera, a time-of-flight / depth-sensing camera, high-resolution LiDAR (light distance measurement) scanners, radar detectors, laser scanners, and the like.

[0033] Machine operating data 226 can include measured current operating values ​​such as a feed rate of the working machine, parameters relating to the performance of the working equipment assembly such as a planting depth, current machine settings such as setpoints, and the like.

[0034] Work area definitions and restrictions 228 can initially be provided on the basis of mapped physical features (e.g. boundaries, waterways) that correspond to the work area and certain work area restrictions, which are based, for example, on inputs or rules to define the various physical features as passable, impassable, headland to be worked or headland not to be worked, etc.Exemplary physical features and associated constraints can include, in addition to an outer boundary, any other boundaries associated with an obstacle, obstruction, hazard, safety condition, or other condition that necessitates the machine raising and / or lowering the work equipment assembly, switching the treatments it provides on and off, or even deviating from the planned path, stopping movement, or taking evasive action, which generally constitutes a planned or unplanned interruption in an otherwise planned or desired work process. Work area definitions and constraints can be defined partly via user input, captured in real time by one or more sensors, or retrieved from a data store based on previously measured and / or mapped work area data, plans, and the like.A user interface 232 can be configured to receive user input to define a work area, which includes, for example, outer field boundaries and inner headland boundaries and regions, with the possibility of determining additional inner regions based on real-time conditions such as a newly detected obstacle, a larger or smaller waterway than expected, etc., as well as in various embodiments of a previous coverage within the work area.

[0035] Future predicted positions 230 can be calculated using a prediction model and based on various inputs, such as a work plan, current machine operating settings and the like, and can furthermore be coordinated with models or algorithms for predicting operationally contactable surface sections during a work operation and a corresponding traversal of the field.

[0036] The controller 210 can be configured to generate outputs, as described below, for a user interface 232 associated with a display unit for presentation to the human operator. The controller can additionally or alternatively be configured to generate outputs to a display unit independent of the user interface, connected to a remote device 240, such as a mobile user device associated with the operator, a display unit functionally connected to one or more remote servers, one or more other work machines, etc. The controller can be configured to receive inputs from the user interface, for example, user inputs provided via the user interface.In some embodiments, the controller can also receive input from remote user devices, servers, and / or other working machines via a suitable user interface, e.g., a display unit with a touchscreen interface. Data transmission between, for example, the controller and a remote user interface can take the form of a wireless communication network and associated components, as are generally known in the field.

[0037] Even if this is in Fig. Unless explicitly stated otherwise in section 7, additional rules and / or device information can be stored in data memory 214 and retrieved by the controller 210 for various calculations during operation. For example, a digital model of the work tool assembly or an equivalent can be used to determine the operational contact area of ​​the surface. The digital model, or other models developed over time, e.g., based on monitored performance of the controller of the work tool assembly in response to commands, can include information used to calculate system delays when establishing and / or breaking operational contact in response to such commands. Overlap rules, for example, can be stored in response to user specifications or for a particular type of work application to define hit-test characteristics for a specific operating mode.

[0038] The control unit 210 can generate control signals for one or all of the drive control unit 250, the implement assembly control unit 260, and / or any other component or system compatible with the operation of the working machine and subject to modification or interruption by the control system 200 or another system. The control signals may include, for example, a steering control signal or data message defining the steering angle of the steering shaft; a brake control signal or data message defining the amount of deceleration, hydraulic pressure, or brake friction for the brakes; a drive control signal or data message controlling a throttle setting, fuel flow, fuel injection system, vehicle speed, or vehicle acceleration.If a working vehicle of the working machine can be driven by an electric drive or electric motor, the drive control signal can further control or modulate the electrical energy, current, or voltage supplied to the electric drive or motor. The control signals generally vary over time as required to follow the path plan. The lines connecting the components of System 200 can include logical communication paths, physical communication paths, or both. Logical communication paths can include communications or connections between software modules, instructions, or data, while physical communication paths can include transmission lines, data buses, or communication channels, to name just a few non-limiting examples.

[0039] The controller 210 can, for example, comprise or be associated with one or more processors 212 and a data storage device 214, and can, for example, include a database network. It is understood that the controller described here can be a single controller possessing all the described functionality, e.g., as part of a central vehicle control unit, or it can comprise multiple controllers, with the described functionality distributed among the multiple controllers.

[0040] Various operations, steps, or algorithms described in connection with the controller 210 can be embodied directly in hardware, in a computer program product, such as a software module executed by the processor 212, or in a combination of both. The computer program product can reside in RAM, flash memory, ROM, EPROM, EEPROM, registers, on a hard disk, a removable disk, or in any other form of computer-readable medium known in the field. An exemplary computer-readable medium can be coupled to the processor such that the processor can read information from and write information to the memory / storage medium. Alternatively, the medium can be an integral part of the processor. The processor and the medium can be contained within an application-specific integrated circuit (ASIC).The ASIC can be located in a user terminal device. Alternatively, the processor and the storage medium can be located as discrete components in a user terminal device.

[0041] The term “processor” 212 can, in the present case, refer at least to general-purpose or specialized processing devices and / or logic, as understood by a person skilled in the art, including, but not limited to, a microprocessor, a microcontroller, a state machine, and the like. A processor can also be implemented as a combination of computing devices, e.g., as a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.

[0042] In Fig. Section 8 describes an embodiment of an operating contact control method 300 according to the present disclosure.

[0043] For illustrative purposes, but without limiting the scope of the systems and methods disclosed herein, and unless expressly stated otherwise, Fig. 8 in connection with a system 200, a working machine 100, a working equipment assembly 102 and the like, as described in Fig. 1A to 4 and 7 are shown.

[0044] While the embodiment shown may include a specific arrangement of steps, inputs, outputs and the like, certain steps may be combined, performed in a different order or even omitted entirely in other embodiments within the scope of protection of the present disclosure, unless expressly stated otherwise herein.

[0045] Procedure 300 can begin in step 310 and, for example, be performed in an endless loop for each of successive time windows, for example every 200 milliseconds.

[0046] The embodiment of method 300 shown further comprises a step 320 of determining applicable hit test types for a current work zone and a further step 330 of determining hit test results for each applicable hit test type.

[0047] The working zone can generally refer to a predicted operational contactable surface section, based, for example, on the geometry (e.g., working length and working width) of the working tool assembly, furthermore with regard to a trajectory and feed rate of the working machine, and furthermore, in some embodiments, with regard to an estimated time- or distance-based delay between triggering commands to establish operational contact (when the working tool assembly is not currently in operational contact) or to release operational contact (when the working tool assembly is currently in operational contact) and an actual execution of the respective function.

[0048] An estimated delay can be based on a predetermined (e.g., manually configured) setting, or in some embodiments, algorithms / models can be iteratively generated over time and stored in data memory for retrieval. This allows for the correlation of inputs—including the initiation of commands to establish / resolve an operational contact and associated sets of operating conditions—with outputs that include specific actual delays. An estimated delay for a current command can be determined with reference to the algorithm, and a specific actual delay after the current command is provided in data memory as feedback for further algorithm development. The automatic generation of estimated delays in such embodiments can, for example,after selecting an automatic mode and after predicted estimated delays in relation to certain actual delays meet a predetermined goodness-of-fit measure for the algorithm, or after another equivalent process to check whether the algorithm is sufficiently trained.

[0049] It is understood by a person skilled in the art that system delays in the implementation of a command (e.g., to establish or release an operating contact) can be due to mechanical delays, electrical delays, communication delays, or other relevant sources of delay. In various embodiments, delay data can be predefined and available for use, for example, via one or more data structures that assign different system delay times to different tools. For example, a planting machine that takes five seconds to lower itself to a planting site might display a system delay of five seconds. Another example: a sprayer that takes half a second to activate (e.g., to move a nozzle from a closed to an open position) might have a system delay of half a second in the data structure.In one embodiment, there may be many different system delays (e.g., delays in raising or lowering a tool, delays in starting and stopping the output, etc.), and the delays can be taken into account in their entirety when determining an initial delay time.

[0050] Applicable hit test types 332 can be determined from a map of the work area, e.g., with respect to physical features such as waterways, as well as other inputs that define boundaries, previous coverage, and the like. Exemplary hit test types may accordingly include a coverage hit test 332a, a boundary (e.g., outside, passable inside, impassable inside) hit test 332b, a headland hit test 332c, and the like. For each of the different hit test types, a respective hit test may, for example, be performed according to a calculation algorithm that is area-based 334, based on a front and back boundary 336, or perimeter-based 338.

[0051] After receiving hit test results that correspond to the applicable hit test type for a current work zone, the procedure 300 may further include applying overlap rules for a current operation 340 and calculating an instruction 350 based on the overlap rules applied to the hit test results. Generally, overlap rules (e.g., settings) are used when a work area (or, depending on the operating mode, one or more edges) overlaps with data geometry corresponding to the direction of travel. The overlap rules can include both straight and lateral overlaps.

[0052] In one embodiment, a zero percent overlap rule can be configured to ensure that the device's operating contact is released with respect to, for example, any previously covered area or areas beyond outer boundaries, and that the device's operating contact is released shortly before entering or otherwise traversing an area within an inner boundary. Accordingly, devices can, for example, be released from operating contact before entering a specific data area, remain out of operating contact within the data area, and only be brought back into operating contact after completely leaving the data area.This can lead to inadequate application and / or maximization of omissions with respect to some areas that would otherwise be desirable to address / treat, but may be preferable in applications where it is particularly important to completely avoid any operation with respect to certain predefined data geometries.

[0053] In one embodiment, a 100% overlap rule can be configured to ensure operational contact of the devices with respect to field boundaries, inner boundaries, and previously covered areas, effectively reducing operational omissions. Accordingly, devices can, for example, be brought into operational contact before entering a specific data area, remain in operational contact within the data area, and only be released from operational contact after completely exiting the data area. This can typically lead to overuse in areas that would otherwise be avoided, but may be preferable in applications where it is particularly important to fully cover / treat all areas within predefined data geometries.

[0054] It is understood by a person skilled in the art that various additional and alternative overlap rules may be available, lying somewhere between the zero percent and 100 percent operating modes, and which can be adapted in various embodiments in response to user input. Furthermore, the application of the zero percent and 100 percent operating modes may vary depending on the type of operation (e.g., tillage, planting, combine harvester), the type of work area (e.g., mainland, headland, outer boundary), and so on.

[0055] According to Fig. In sections 9 to 12, an embodiment of a process corresponding to step 350 of calculating an instruction can be described in more detail.

[0056] If a calculation algorithm for the respective hit test is area-based (i.e., “yes” according to query 352), then in step 353 an operating contact command is calculated using the predicted location of the working area of ​​the work tool assembly and a corresponding operating contactable surface section.

[0057] An example of this workspace-based calculation algorithm 334 is in Fig. 13A and Fig. 13B shown. Fig. 13A includes a predicted location 230 for the work equipment assembly, an overlap of an operationally contactable surface section 220 with a waterway 134. Fig. Figure 13B shows an overlap area 335, each associated with the operational contactable surface section and the waterway for the predicted location. If a current operating mode for the operation specifies an overlap rule where no overlap of constraints in the overlap area 335 is allowed beyond zero percent, the corresponding operational contact command would be to release the operational contact. If a current operating mode for the operation specifies an overlap rule where less than one hundred percent overlap of constraints in the overlap area 335 is allowed, the corresponding operational contact command would be to establish the operational contact. It is understood that various additional operating modes fall within the scope of this disclosure, where, for example, the command may further depend on a certain overlap of the work area with other constraint types.

[0058] If a calculation algorithm for the respective hit test is based on a front and back margin (i.e., "yes" according to query 354 in Fig. 9), in step 355, an operating contact command is calculated using the predicted locations of the front and rear edges of the working tool assembly and a corresponding operating contactable surface section.

[0059] An example of this front and rear margin-based calculation algorithm 336 is in Fig. 14A and Fig. 14B shown. Fig. 14A includes a predicted location 230 for the work equipment assembly, an overlap of the front and rear edges with an operational contactable surface section 220, which includes a waterway 134. Fig. Figure 13B illustrates an overlap of the front edge 337a with respect to the operational contactable surface section and the waterway for the predicted location, and an overlap of the rear edge 337b with respect to the operational contactable surface section and the waterway for the predicted location. If a current operating mode for the operation specifies an overlap rule where no overlap of constraints with respect to the overlap edges 337a, 337b is allowed beyond zero percent, the corresponding operational contact command would be to release the operational contact. If a current operating mode for the operation specifies an overlap rule where less than one hundred percent overlap of constraints with respect to the overlap edges 337a, 337b is allowed, the corresponding operational contact command would be to establish the operational contact.It is understood that various additional operating modes fall within the scope of the present disclosure, whereby, for example, the command may further depend on a certain overlap of the front and / or rear edge with other types of constraints.

[0060] If a calculation algorithm for the respective hit test is scope-based (i.e., "no" according to queries 352 and 354 in Fig. 9), accordingly, in step 356 an operating contact command is calculated using the predicted locations of the working tool assembly perimeter and a corresponding operating contactable surface section.

[0061] An example of this perimeter-based calculation algorithm 338 is in Fig. 15A and Fig. 15B shown. Fig. 15A includes a predicted location 230 for the work equipment assembly, an overlap of the perimeter of an operationally contactable surface section 220, including a waterway 134. Fig. Figure 15B illustrates an overlap of the perimeter at a top edge 339a, a left edge 339b, and a rear edge 339c with respect to the operational contactable surface section and waterway for the predicted location. If a current operating mode for the operation specifies an overlap rule that allows no overlap of constraints with respect to the overlap edges beyond zero percent, the corresponding operational contact command would be to release the operational contact. If a current operating mode for the operation specifies an overlap rule that allows less than one hundred percent overlap of constraints with respect to the overlap edges, the corresponding operational contact command would be to establish the operational contact.It is understood that various additional operating modes fall within the scope of the present disclosure, whereby, for example, the command may further depend on a certain overlap of some or all circumferential boundaries with other constraint types.

[0062] The algorithms in Fig. Although paragraphs 13A to 15B refer to overlaps with waterways as a specific type of hit test, which may be associated, for example, with an internal impassable boundary or other configuration intended for a particular operation or type of working machine, it is understood by a person skilled in the art that the same calculation algorithms can be applied in different ways to other types of hit tests corresponding to a previous cover, outer boundaries, internal passable boundaries, a headland or the like, each of which may also have corresponding overlap rules and / or parameters according to the respective operation or type of working machine.

[0063] In one embodiment, the generation of an operating contact command according to the scope-based calculation algorithm 356 can be performed according to a Fig. The process shown in 10 will take place.

[0064] The controller receives or otherwise predicts a future rank position corresponding to the working area of ​​the work tool assembly (step 358) and translates this information into predicted boundaries, such as the predicted boundary positions front, right, rear, and left (step 360). The controller further determines a relevant target zone corresponding to a workable surface section to be traversed (step 362), determines hit test types to be analyzed based on identified constraints within or otherwise associated with the target zone (step 363), and calculates a command state for each of the different hit test types (step 364).

[0065] If the command state for one of the hit test types is "Resolve" (i.e., "yes" in response to the query in step 366), the process continues in step 368 with a command to resolve the operational contact (or maintain the non-operational contact).

[0066] If the instruction state for none of the hit test types is "Resolve" (i.e., "no" in response to the query in step 366), the process continues in step 370 by merging the hit test results and calculating an operational contact instruction. If, after merging the hit test results, the instruction state is "Resolve" (i.e., "yes" in response to the query in step 372), the process continues in step 368 with an instruction to resolve the operational contact (or maintain the non-operational contact). If, after merging the hit test results, the instruction state is "Establish" or otherwise not "Resolve" (i.e., "no" in response to the query in step 372), the process continues in step 374 with an instruction to establish the operational contact (or maintain the operational contact).

[0067] In one embodiment, a determination of a command state 364 or a calculation of an operating contact command 370 can be performed as in Fig. The process is shown in section 11. First, in step 376, an operating contact control state is calculated for each predicted edge using hit test type data.

[0068] For example, in Fig. As shown in Figure 12, this can involve determining an overlap result of each of the different predicted margins with the hit test data (Step 388). Depending on whether the overlap result corresponds to a desired overlap percentage or not (i.e., in response to the query in Step 390), the control state is set to "Solve" (Step 392) or "Make" (Step 394).

[0069] Back to Fig. 11: If the relevant overlap rule prefers an overlap, or in other words allows an overlap of more than zero percent for a constraint or a certain type of constraint within the operationally contactable surface section (i.e., "yes" in response to the query in step 378), and if the control state of any edge is "Making" (i.e., "yes" in response to the query in step 380), the command state for the respective hit test type is set to "Making" (step 382).

[0070] If the relevant overlap rule does not prefer overlap, or in other words, does not allow more than zero percent overlap for a constraint or a particular type of constraint within the operationally contactable surface section (i.e., "no" in response to the query in step 378), and if the control state of any margin is "Solve" (i.e., "yes" in response to the query in step 384), the command state for the respective hit test type is set to Solve (step 386).

[0071] Alternatively, if the relevant overlap rule allows an overlap of more than zero percent for a constraint or a specific type of constraint within the operationally contactable surface section (i.e., "yes" in response to the query in step 378), but the control state for none of the edges is determined to be "Making" (i.e., "no" in response to the query in step 380), the command state for the respective hit test type is set to "Resolve" (step 386).

[0072] If the relevant overlap rule does not allow an overlap of more than zero percent for a constraint or a certain type of constraint within the operationally contactable surface section (i.e., "no" in response to the query in step 378), but the control state for none of the edges is determined to be "Solve" (i.e., "no" in response to the query in step 384), the command state for the respective hit test type is set to "Making" (step 382).

[0073] With renewed reference to Fig. 8. After calculating a manufacturing or releasing command, procedure 300 may, in some embodiments, optionally proceed with arbitrating the calculated command and optionally with an automation override command (step 400). In some cases, e.g., when unusual reversing or other operating maneuvers are required, or in response to a manual override command by the operator, the control may be configured to override the operating contact control command.

[0074] If the operating contact control command is not overridden, the procedure may include generating commands (in step 410) to one or more actuators associated with the working machine and, in particular, in most contexts, with the working tool assembly, to perform the desired establishing / releasing of the operating contact.

[0075] An exemplary use case for a system and a method as disclosed herein can be described by reference to Fig. 16A and Fig. 16B and in connection with a soil cultivation operation by a working machine 100 are described in more detail. For this type of operation, exemplary objectives may include avoiding the cultivation of waterways 134 or equivalent areas across internal passable boundaries, avoiding partial cultivation of the core land 128 during turning operations in the headland, keeping the working implement assembly lowered in order to work within the headland 124, and raising the working implement assembly during maneuvers such as sharp turns, reversing, crossing, etc.

[0076] Conventional methods generally do not take into account the entire working length of the work tool assembly, so the entire frame was often raised or lowered prematurely or in the wrong place, resulting either incomplete machining or machining in undesired areas (in which case, possibly damage to the waterway 134). As in Fig. As shown in Figure 16A, transition states 500 for the working equipment assembly of the working machine 100 can overlap with undesired working sections 502.

[0077] While the working machine is moving in a first direction 504 (from bottom to top, as shown), the implement assembly is lowered too late when entering the core area from the headland, thus missing a section of the core area; then, when crossing an internal boundary into the waterway, the implement assembly is raised too late, thus missing a section of the waterway; then, when leaving the waterway, the implement assembly is lowered too early, thus missing another section of the waterway; and finally, when leaving the core area and entering the headland area, the implement assembly is raised too early, thus missing another section of the core area.

[0078] The same problems are easily recognizable when the working machine is moving in a second direction 506 (from top to bottom, as shown) or when working inside the headland (on the left side, as shown).

[0079] As in Fig. As shown in Figure 16B, a system and method disclosed herein can preferably take into account the entire working length of the working equipment assembly, also with regard to the specified overlap rules, etc., so that the undesired working sections 502 are eliminated and each transition state 500 corresponds to a desired working section 508. It is understood that, for example, parts of the mainland in the immediate vicinity of the waterway were not included where this would have been desirable, but avoiding the waterway was prioritized in this context for the respective application.

[0080] As in Fig. As illustrated in Figure 17, another application can be described in connection with a combine harvester working in a field comprising an outer boundary 122, a headland 124, a core area 128, a waterway 134, an inner impassable section 140, a crop gap area 142, and a previous covering area 144. This application serves only for illustration and does not constitute a limitation of any method of the present disclosure with respect to combine harvester operations, and a person skilled in the art can also identify equivalent applications for other types of operations and machinery, such as planting machines, sprayers, and the like.

[0081] When the machine crosses the outer boundary 122 and enters the headland 124 (step 600), the implement assembly (e.g., a header) can be lowered accordingly. Whether the header is lowered only when it is completely within the headland, or in such a way that the headland is completely covered, may depend on the specific overlap rule, as provided, for example, in user-specific adjustments to the process.

[0082] As the working machine moves along the outer section of the headland 124, it partially encounters a waterway 134 (step 602), whereby the harvesting header can be held in a lowered position, for example depending on the respective overlap rule.

[0083] When the working machine travels along the inner section of the headland 124 and fully meets the waterway 134 of the headland (step 604), the header can also be raised to avoid capturing the waterway, which also depends on the relevant overlap rule.

[0084] When the machine passes the headland 124 and crosses the outer boundary 122 (step 606), the header can be raised accordingly. Whether the header is raised only when it is completely outside the headland, or whether the headland is fully covered, can depend on the specific overlap rule. If the machine turns right and continues along the headland, but a section of the header would cross the outer boundary during the turn, the header can be raised or lowered depending on the specific overlap rule with respect to the outer boundary.

[0085] If the working machine continues to the right along the headland 124 and into the crop gap area 142 (step 608), the header can typically be lowered (if it was previously raised to avoid the outer boundary), remain in a lowered position, or possibly be raised, depending on the specific overlap rule in relation to the crop gap area.

[0086] When the working machine moves from the crop gap area 142 to the right into the primary headland 124 (step 610), the header can typically be lowered (if it was previously raised in the crop gap area) or remain in a lowered position, depending on the specific overlap rule in relation to the crop gap area.

[0087] As the working machine continues to the right along the headland 124 and into the coverage area 144 (step 612), the header can typically be raised or possibly remain in a lowered position, depending on the specific overlap rule in relation to the coverage area.

[0088] When the working machine then leaves the coverage area 144 and returns to the primary headland 124 (step 614), the header can typically be lowered or may possibly remain in a lowered position, depending on the specific overlap rule in relation to the coverage area.

[0089] As already mentioned and further with reference to Fig.As illustrated in Figure 18, a system and a method such as those disclosed herein can be configured to accommodate special maneuvers or equivalent use cases where a command that would normally be applied during a core field, headland, or the like is overridden. For example, if a route such as that shown for the working machine lies entirely within an area such as a core field, which would otherwise require the working implement assembly to be fully lowered during operation (in this case, a tillage operation), the user may prefer to raise the working implement assembly, at least during a portion of the route, due to the sharp turn. This may cause the working implement assembly to extend beyond the outer boundary or even require reversing the working machine to complete the maneuver.Such special maneuvers may also be necessary in other contexts, e.g. to avoid possible damage to equipment when bypassing impassable obstacles, at crossings for transport in the field, etc.

[0090] In one embodiment, a system and a method as disclosed herein can be configured to predict the occurrence of such special maneuvers and also to predict the corresponding operationally contactable surface sections, for example, based on a predetermined work plan for the field, the operating characteristics (e.g., feed rate, turning capability) of the machine and the implement assembly, the field conditions, and the like. A machine equipped, for example, with an obstacle detection system can determine conditions in real time in order to better predict the occurrence of special maneuvers.

[0091] In one embodiment, a system and a method as disclosed herein can be configured to apply overlap rules, at least partially, based on a dynamic map of the work area (field). This map can be updated, for example, during operation by one or more work machines to reflect updated coverage areas corresponding to the surface sections worked by the respective work machine assemblies. When a detected section of the work area is updated to define a new coverage area, the contours of the coverage area can, for example, define boundaries with respect to adjacent core land or headlands yet to be worked and may affect the application of overlap rules for subsequent work machine paths encountering the same surface section.

[0092] In one embodiment, a system and a method as disclosed herein can be configured to perform additional functions based on geographic triggering during the operations described above. For example, settings or operations for one or more components of the machine or work tool assembly, which are independent of the functions described herein for establishing / releasing an operating contact, such as the processing of picked-up material, changes to screen box settings, and the like, can be triggered in connection with an operating / non-operating contact transition and / or in consideration of a detected location with respect to defined settings, such as geographic triggers. Examples of geographic triggers include, for example...These could include crossing a waterway, crossing an outer boundary to enter or exit the work area, a dynamic change in the course of the working machine away from a predetermined trajectory, and the like. In various embodiments, geographic triggers for internal control functions, which, as defined herein, may relate to functions executed independently of the operational contact functions described herein, may coincide with an analysis of the operational contactable surface sections of the work area and the triggers for establishing or breaking operational contact. However, in other embodiments, the geographic triggers for internal control functions may comprise one or more separate triggers, making an analysis of operational contactable surface sections of the work area separate from and unnecessary for the analysis of geographic triggers for the internal control functions.

[0093] In one embodiment, the one or more working machines, or a separate computing device, or a network of devices functionally connected to the one or more working machines, can further calculate accurate total work quantities based on the dynamic map by taking into account a difference between a captured surface area and a portion of the surface area that was previously wholly or partially processed. In another embodiment, the one or more working machines, or a separate computing device, or a network of devices functionally connected to the one or more working machines, can further or alternatively calculate an efficiency value, or an equivalent thereof, based on the portion of the work area that was captured but previously processed.

[0094] In this context, the expression "one or more of" when used with a list of elements means that various combinations of one or more of the elements can be used, and it may be necessary to use only one of each element in the list. For example, "one or more of" element A, element B, and element C could include, among others, element A or element A and element B. This example could also include element A, element B, and element C, or element B and element C.

[0095] It is thus shown that the apparatus and methods of the present disclosure readily achieve the stated objectives and advantages, as well as those inherent within the disclosure. Although certain preferred embodiments of the disclosure have been illustrated and described for illustrative purposes, numerous modifications to the arrangement and construction of the parts and steps can be made by a person skilled in the art, and these modifications fall within the scope and essence of the present disclosure as defined by the pending claims. Each disclosed feature or embodiment can be combined with any of the other disclosed features or embodiments.

Claims

[1] Method (300) for controlling the operation of a working machine (100) in a working area (120), wherein the working machine comprises a working equipment assembly (102) which defines at least a working length (106) and a working width (114) and is configured in response to control signals to establish or break operational contact with a surface section of the working area, wherein the method comprises: Determine the respective operational contact restrictions (228) that correspond to one or more zones and / or boundaries associated with the work area; during the operation of the working machine in the work area, continuous prediction of operational contactable surface sections (220) of the work area to be traversed and associated restriction levels for them, wherein the operational contactable surface sections correspond at least to the working length and working width; Determining an operating mode for the working machine during operation, wherein the operating mode is determined from a plurality of operating modes, comprising a first mode specifying complete operating contact with an operating-contactable surface section without overlapping constraints, and a second mode specifying complete resolution of the operating contact with an operating-contactable surface section that overlaps one or more constraints; and For each predicted operational contactable surface section of the work area, prior to entering it, the work equipment assembly is automatically actuated to establish or release (260) operational contact based on certain operational contact restrictions corresponding to the predicted operational contactable surface section and the operating mode. [2] Method according to claim 1, wherein the working machine comprises one or more components for processing harvested crop material, wherein the method comprises automatic adjustment of one or more settings for at least one of the one or more components based on certain internal processing constraints that correspond to the predicted operational contactable surface section and the operating mode. [3] Method according to claim 2, wherein the plurality of operating modes comprises at least a third operating mode which specifies an automatic activation or deactivation of the at least one of the one or the multiple components independently of changes in the operating contact or non-operating contact of the operating-contactable surface section. [4] Method according to claim 1, further comprising mapping the work area during operation by the working machine therein in order to store further operational contact restrictions corresponding to coverage zones and / or boundaries (222). [5] Method according to claim 1, comprising automatically actuating the working device assembly further on the basis of a predictive time between an actual front edge of the working device assembly and a rear edge of the predicted operational contactable surface section of the working area. [6] Method according to claim 5, wherein the look-ahead time is determined on the basis of an actual driving speed and / or a system deceleration associated with a transition of the working equipment assembly from the operating contact to the non-operating contact. [7] Method according to claim 1, wherein the working length and working width of the working tool assembly are determined using a digital model. [8] Method according to claim 7, wherein the digital model is generated at least partially on the basis of observations of the working length and working width of captured surface sections during a previous operation of the work tool assembly. [9] Method according to claim 1, wherein one or more of the plurality of operating modes define an overlap of the operating contactable surface section with respect to an entire working area of ​​the working device assembly. [10] Method according to claim 1, wherein one or more of the plurality of operating modes define an overlap of the operating contactable surface section with respect to one or more sides of the working length and / or the working width of the working tool assembly. [11] Method according to claim 1, wherein: Establishing operational contact through the work equipment assembly includes applying a treatment to the respective surface section of the work area; and The breaking of the operating contact by the working equipment assembly includes interrupting the application of the treatment to the respective surface section of the work area. [12] Method according to claim 1, wherein: Establishing operational contact by the work tool assembly includes moving the work tool assembly into physical engagement with the respective surface section of the work area; and The breaking of the operating contact by the working tool assembly includes moving the working tool assembly out of physical contact with the respective surface section of the working area. [13] System (200) for controlling a work process in a work area (120), wherein the system comprises: a working machine (100) comprising a working tool assembly (102) defining at least a working length (106) and a working width (114) and configured in response to control signals to establish or break operational contact with a surface section of the working area; and one or more processors (210, 212, 240) that are functionally connected to the working machine and configured to control the execution of steps in a method according to any one of claims 1 to 12.

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